/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "CollisionFreeSampler.hpp"

#include <rw/proximity/CollisionDetector.hpp>

using namespace rw::proximity;
using namespace rwsim::util;

CollisionFreeSampler::CollisionFreeSampler (StateSampler::Ptr sampler,
                                            CollisionDetector::Ptr detector, int n) :
    _sampler (sampler),
    _detector (detector), _n (n)
{}

CollisionFreeSampler::~CollisionFreeSampler ()
{}

bool CollisionFreeSampler::sample (rw::kinematics::State& state)
{
    bool colfree = false;
    int maxTries = _n;
    do {
        if (!_sampler->sample (state))
            return false;

        colfree = _detector->inCollision (state, NULL, true);

        if (maxTries > 0)
            maxTries--;

    } while (colfree && maxTries != 0);

    if (maxTries == 0)
        return false;

    return true;
}
